Variable-diameter structure and multi-joint variable-diameter robot

Abstract

The utility model provides a kind of variable diameter structure and multi-joint variable diameter robot, belong to robot technical field, adapt asymmetric variable diameter or dynamic adjustment support scene.The utility model's variable diameter structure is crossed hinged by first, second upper connecting rod and first, second lower connecting rod, and is composed of, upper end connection walking unit, lower end connection center fixed support, second lower connecting rod hinged support connecting rod, support connecting rod lower end interface center fixed support on driving device, it can also be equipped with fixed rod reinforcement, the utility model's multi-joint variable diameter robot contains at least two above-mentioned variable diameter structure, adjacent structure is connected by double rudder machine connecting mechanism, front end is equipped with head execution mechanism of detection equipment, rear end is equipped with tail mechanism of cable reel, bottom can be equipped with wheel foot.The utility model can realize asymmetric variable diameter, dynamic adjustment, robot can all-terrain adaptation, in situ steering, applicable to passageway detection etc.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and in particular relates to a variable diameter structure and a multi-joint variable diameter robot. Background Technology

[0002] Due to its wide range of diameter variations, the scissor fork linkage structure is widely used in various scenarios and has also been applied in channel robots.

[0003] However, existing scissor-fork linkage structures mostly use a single motor to drive all linkages, resulting in insufficient synchronous diameter change and flexibility. In complex environments (such as T-shaped passages and collapsed areas), synchronous diameter change cannot conform to irregular inner walls, making overturning prone to occur.

[0004] Specifically, existing scissor fork linkage mechanisms with variable diameters have the following technical problems: (1) Synchronous diameter change limitation: Most of them use a single drive source, and all the links extend and retract synchronously, which makes it impossible to achieve asymmetrical diameter change or local adjustment.

[0005] (2) Insufficient adaptability: In irregular channels or collapse environments, the synchronous variable diameter structure is difficult to fit the irregular inner wall, resulting in unstable support or poor passage.

[0006] (3) Single function: It is impossible to achieve complex actions (such as climbing on one side, overcoming obstacles, etc.) through independent control of the linkage.

[0007] Meanwhile, existing multi-joint robots with the aforementioned scissor-fork linkage mechanism also suffer from the same technical problems, and there is also the difficulty in simultaneously achieving large-range diameter changes, multi-degree-of-freedom motion, and multi-module collaborative motion control.

[0008] Especially when encountering T-junctions in special passage inspections, traditional multi-joint robots require manual intervention to steer; in coal mine rescue, they cannot simultaneously cope with roadway deformation (diameter change requirements) and collapsed obstacles (obstacle crossing requirements).

[0009] Therefore, designing a new variable diameter structure and a multi-joint variable diameter robot with such a structure has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0010] The problem to be solved by this utility model is to provide a variable diameter structure and a multi-joint variable diameter robot.

[0011] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a variable diameter structure, including a scissor fork linkage assembly. The upper end of the scissor fork linkage assembly is connected to a walking unit, and the lower end of the scissor fork linkage assembly is connected to a central fixed bracket. The scissor fork linkage assembly includes a first upper linkage, a second upper linkage, a first lower linkage, and a second lower linkage. The first upper linkage and the second upper linkage are arranged intersectingly, and the first lower linkage and the second lower linkage are also arranged intersectingly. The upper ends of the first upper linkage and the second upper linkage are respectively hinged to the walking unit, and the hinge points form... The upper hinge point; the lower ends of the first lower connecting rod and the second lower connecting rod are respectively hinged to the central fixed bracket, and the hinge point forms the lower hinge point; the lower end of the first upper connecting rod is hinged to the upper end of the first lower connecting rod, and the lower end of the second upper connecting rod is hinged to the upper end of the second lower connecting rod, and the hinge point of the upper and lower connecting rods forms the middle hinge point; a support connecting rod is hinged to the second lower connecting rod, the upper end of the support connecting rod is hinged to the body of the second lower connecting rod, and the lower end of the support connecting rod is hinged to the output end of the drive device, and the drive device is mounted on the central fixed bracket.

[0012] Furthermore, the driving device comprises a motor, a lead screw, and a lead nut; one end of the support link is hinged to the lead nut of the lead screw, and the other end is hinged to the body of the second lower link. When the lead screw rotates, the lead nut will move horizontally, causing the lower end of the support link to move left and right, thereby driving the movement of the second lower link, realizing the extension and retraction of the entire scissor fork link assembly. When the lower end of the support link moves to the left, the scissor fork link assembly will retract; when the lower end of the support link moves to the right, the scissor fork link assembly will open.

[0013] Furthermore, it also includes a fixing rod, which includes a first fixing rod and a second fixing rod. The upper end of the first fixing rod is hinged to the lower end of the second upper connecting rod, and the lower end is hinged to the body of the first lower connecting rod. The upper end of the second fixing rod is hinged to the body of the second upper connecting rod, and the lower end is hinged to the upper end of the first lower connecting rod.

[0014] Furthermore, the scissor fork linkage assembly is provided in 3 groups, which are evenly distributed and have the same included angle.

[0015] Furthermore, a pressure sensor is installed at the nut; an angle sensor is installed at the lower hinge point. The angle sensor moves with the first lower connecting rod and monitors the opening angle of the first lower connecting rod in real time to determine whether the scissor fork connecting rod assembly has been pressed against the inner wall of the channel. At the same time, it works with the pressure sensor to achieve closed-loop control.

[0016] This utility model also provides a multi-joint variable-diameter robot, including the variable-diameter structure, a head actuator, a servo motor connection mechanism, and a tail mechanism. At least two variable-diameter structures are provided, and adjacent variable-diameter structures are connected by a servo motor connection mechanism. The head actuator is installed at the end of the front variable-diameter structure, and the tail mechanism is installed at the end of the rear variable-diameter mechanism.

[0017] Furthermore, the servo motor connection mechanism includes a first servo motor and a second servo motor that are rotatably connected. The first servo motor can rotate 360° to achieve lateral movement or steering; the second servo motor can swing ±90° to adjust the overall posture of the robot.

[0018] Furthermore, both ends of the servo motor connection mechanism are respectively connected to the central fixed bracket of the adjacent variable diameter structure.

[0019] Furthermore, the variable diameter structure is equipped with wheel feet at its bottom.

[0020] Furthermore, the head actuator includes a depth camera and a lidar, which are connected by a servo motor to achieve pitch or rotation adjustment; the tail mechanism has a built-in cable reel, a rear camera and a laser rangefinder, which provide power or signal transmission to achieve dragging and assist in balance, and also play a role in vision and distance measurement when moving in the opposite direction.

[0021] By adopting the above technical solution, this utility model has the following beneficial effects: The variable diameter structure of this utility model can be used in scenarios such as channel detection and complex terrain exploration. It is especially suitable for working environments that require asymmetric diameter change or dynamic adjustment support. By independently driving each set of scissor fork links, it achieves (1) independent drive design: each scissor fork link group is controlled by a separate drive device; (2) asynchronous diameter change: each scissor fork link group can extend and retract independently to adapt to asymmetric or irregular spaces, and can realize asymmetric extension, local adjustment and dynamic balance; (3) dynamic adjustment: adjust the length of a single or multiple links in real time according to the environment to improve stability; (4) multi-functional expansion: realize complex actions such as obstacle crossing and turning through differentiated control links.

[0022] It is evident that the variable diameter structure of this invention can significantly improve flexibility: independent drive enables asymmetric diameter change, adapting to irregular environments; enhanced stability, dynamically adjusting the length of each link to ensure support balance in complex terrain; improved functional expandability: developing more action modes through control strategies; increased structural compatibility: retaining the large diameter change advantage of traditional scissor forks while adding an independent drive dimension.

[0023] Compared to conventional multi-joint robots, which lack control over extension and retraction or have excessively small extension radii and can only control extension and retraction synchronously as a whole, this utility model of a multi-joint variable-diameter robot achieves independent control of extension and retraction for each link and allows for greater variation in extension and retraction radius. Conventional inspection equipment has a minimum turning radius of ≥1.5 times the body length when turning, while this utility model's multi-joint variable-diameter robot can perform in-situ transformations through the rotation function of the servo motor module, with a minimum turning radius of 0, thus requiring less space.

[0024] Each variable-diameter structure of the multi-joint variable-diameter robot of this utility model can be independently controlled for diameter change; the servo motor connection mechanism has dual-degree-of-freedom motion capability, first adjusting the angle by rotation, and then controlling the deflection, which can realize the deflection function of all angles; and not only independently controlling the diameter change of each link, but also realizing joint swing and rotation through the servo motor. It can be seen that the multi-joint variable-diameter robot of this utility model achieves (1) all-terrain coverage: the combination of drive and servo motor connection mechanism realizes all-terrain adaptation. It integrates vertical shaft climbing, planar walking and obstacle crossing functions into one; (2) high adaptability: multiple variable-diameter structures can cope with extreme environments such as collapse and deformed channels without the need for manual assistance; (3) strong expandability: the head actuator can be adapted to different detection equipment (such as gas sensors, robotic arms) and supports multi-angle detection; (4) high fault tolerance: it can autonomously restore balance through two servo motors, and can recover the working state through the servo motor collaboration after overturning. Attached Figure Description

[0025] The present invention will be described in detail below with reference to the accompanying drawings and examples. The advantages and implementation methods of the present invention will become more apparent then. The contents shown in the accompanying drawings are for illustrative purposes only and do not constitute any limitation on the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the variable diameter structure of this utility model.

[0026] Figure 2 This is a diagram showing the usage state of the variable diameter structure of this utility model.

[0027] Figure 3 This is a structural schematic diagram of the multi-joint variable-diameter robot of this utility model.

[0028] Figure 4 This is a schematic diagram of the servo motor connection mechanism of this utility model.

[0029] In the picture: 1. Walking unit; 2. Central fixed bracket; 3. First upper connecting rod; 4. Second upper connecting rod; 5. First lower connecting rod; 6. Second lower connecting rod; 7. Upper hinge point; 8. Lower hinge point; 9. Middle hinge point; 10. Support connecting rod; 11. Drive device; 12. First fixed rod; 13. Second fixed rod; 14. Pressure sensor; 15. Angle sensor; 16. Variable diameter structure; 17. Head actuator; 18. First servo motor; 19. Second servo motor; 20. Tail mechanism; 21. Wheel feet. Detailed Implementation

[0030] like Figure 1 and Figure 2 As shown, this utility model discloses a variable diameter structure, including a scissor fork linkage assembly. The upper end of the scissor fork linkage assembly is connected to the walking unit 1, and the lower end of the scissor fork linkage assembly is connected to the central fixed bracket 2. The scissor fork linkage assembly includes a first upper link 3, a second upper link 4, a first lower link 5, and a second lower link 6. The first upper link 3 and the second upper link 4 are arranged intersectingly, and the first lower link 5 and the second lower link 6 are also arranged intersectingly. The upper ends of the first upper link 3 and the second upper link 4 are respectively hinged to the walking unit 1, and the hinge points form upper hinge points 7. The first lower link 5... The lower ends of the first upper link 3 and the second lower link 4 are hinged to the central fixed bracket 2, forming a lower hinge point 8. The lower end of the first upper link 3 is hinged to the upper end of the first lower link 5, and the lower end of the second upper link 4 is hinged to the upper end of the second lower link 6. The hinge point of the upper and lower links forms a middle hinge point 9. A support link 10 is hinged to the second lower link 6. The upper end of the support link 10 is hinged to the body of the second lower link 6, and the lower end of the support link 10 is hinged to the output end of the drive device 11. The drive device 11 is mounted on the central fixed bracket 2.

[0031] The central fixed bracket 2 is the central area of ​​the entire structure, used to support and fix each scissor fork linkage group, and also to house the drive device 11, as well as transmission and electronic equipment.

[0032] The drive unit 11 consists of a motor, a lead screw, and a lead nut.

[0033] In this embodiment, one end of the support link 10 is hinged to the lead screw nut, and the other end is hinged to the second lower link 6. When the lead screw rotates, the lead screw nut will move horizontally, causing the lower end of the support link 10 to move left and right, thereby causing the second lower link 6 to move, realizing the extension and retraction of the entire scissor fork link assembly. When the lower end of the support link 10 moves to the left, the scissor fork link assembly will retract, and when the lower end of the support link 10 moves to the right, the scissor fork link assembly will open.

[0034] Among them, the drive device 11 is a linear motor, which can improve the response speed.

[0035] Considering the poor stability of the scissor fork linkage assembly itself, and the potential for instability due to swaying during hinged fixing, a fixing rod is added to stabilize the overall structure and provide support and fixation. The fixing rod includes a first fixing rod 12 and a second fixing rod 13. The upper end of the first fixing rod 12 is hinged to the lower end of the second upper connecting rod 4, and the lower end is hinged to the body of the first lower connecting rod 5. The upper end of the second fixing rod 13 is hinged to the body of the second upper connecting rod 4, and the lower end is hinged to the upper end of the first lower connecting rod 5.

[0036] The scissor fork linkage assembly consists of at least three groups, evenly distributed and with the same included angle. Each scissor fork linkage assembly is equipped with a separate drive unit 11 for independent control.

[0037] Since most robots are invisible during movement and the specific state of each internal link cannot be known, a pressure sensor 14 is installed at the position of the nut. The pressure sensor can be used to monitor in real time and determine the current pressure status of the link.

[0038] Since most of the robot is invisible during movement, an angle sensor 15 is installed at the lower hinge point. It moves with the first lower link 5 and can monitor the opening angle of the first lower link 5 in real time to determine whether the scissor fork linkage has been pressed against the inner wall of the channel. At the same time, it can work with the pressure sensor 14 to achieve closed-loop control.

[0039] The walking unit 1 can be based on existing technologies, such as support feet or vacuum adsorption mechanisms. Vacuum adsorption mechanisms can be used on smooth walls.

[0040] Working principle: When the scissor fork linkage assembly is provided with 3 sets, its usage is as follows: Figure 2 As shown.

[0041] Asymmetric diameter change: Since each link of each scissor fork linkage can retract or expand independently, in complex spaces or irregular channels, by controlling some scissor fork linkages to extend while others retract, the overall structure can fit against the irregular inner wall and pass through the irregular channel.

[0042] Dynamic balance: When the overall structure of this utility model moves on an inclined plane, the center may be too high, causing the equipment to tilt backward and overturn. Therefore, the center of gravity can be kept stable by adjusting the retraction of the scissor fork linkage group located at the highest point.

[0043] like Figure 3 and Figure 4 As shown, this utility model also provides a multi-joint variable-diameter robot, including a variable-diameter structure 16, a head actuator 17, a servo motor connection mechanism, and a tail mechanism 20.

[0044] At least two variable-path structures 16 are provided, and adjacent variable-path structures 16 are connected by a servo motor connection mechanism. The servo motor connection mechanism includes a first servo motor 18 and a second servo motor 19 that are rotatably connected. The first servo motor 18 can rotate 360° to achieve lateral movement or turning; the second servo motor 19 can swing ±90° to adjust the robot's overall posture (such as head-up obstacle crossing). The head actuator 17 is installed at the end of the front variable-path structure. The head actuator 17 includes a depth camera and a lidar, which can be adjusted for pitch or rotation through the servo motor connection mechanism. The tail mechanism 20 is installed at the end of the rear variable-path mechanism. The tail mechanism 20 has a built-in cable reel, a rear camera and a laser rangefinder, provides power or signal transmission, realizes dragging and assists in balance, and plays a role in vision and distance measurement when moving in the opposite direction.

[0045] The two ends of the servo motor connection mechanism are respectively connected to the central fixed bracket 2 of the adjacent variable diameter structure 16.

[0046] The variable diameter structure is equipped with wheel feet 21 at the bottom (which can be tires or tracks, etc.). Figure 3 The one used in China is a tracked vehicle.

[0047] Working principle: Shaft climbing: Adjust the opening angle of the variable diameter structure 16 according to the internal structure of the shaft, so that the wheel feet 21 of each variable diameter structure 16 can be opened and attached to the shaft wall, and the wheel feet can be rotated and moved forward in a unified manner.

[0048] The irregular channel is traversed as follows: the front variable diameter structure contracts to its minimum diameter, and the angle of the front variable diameter structure is adjusted by the rotation and swing of the servo motor connecting mechanism. The rear variable diameter mechanism adjusts the support length to provide asymmetrical support. After the angle is adjusted, the drive wheel 21 moves forward. After the front variable diameter structure enters the irregular channel, the connecting rods are opened according to the size of the irregular space for support. The rear part contracts and opens in the same way.

[0049] Planar obstacle crossing: The variable diameter structure at the front retracts, and the servo motor connection mechanism raises the head by rotating and swinging, propelling it across obstacles.

[0050] The embodiments of this utility model have been described in detail above, but the content described is only a preferred embodiment of this utility model and should not be considered as limiting the scope of implementation of this utility model. All equivalent changes and improvements made within the scope of this utility model should still fall within the scope of this utility model.

Claims

1. A variable diameter structure, characterized in that: The system includes a scissor fork linkage assembly. The upper end of the scissor fork linkage assembly is connected to the walking unit, and the lower end is connected to a central fixed bracket. The scissor fork linkage assembly includes a first upper link, a second upper link, a first lower link, and a second lower link. The first and second upper links are arranged intersectingly, as are the first and second lower links. The upper ends of the first and second upper links are respectively hinged to the walking unit, forming an upper hinge point. The first and second lower links... The lower ends of the connecting rods are respectively hinged to the central fixed bracket, forming a lower hinge point; the lower end of the first upper connecting rod is hinged to the upper end of the first lower connecting rod, and the lower end of the second upper connecting rod is hinged to the upper end of the second lower connecting rod, forming a middle hinge point; a support connecting rod is hinged to the second lower connecting rod, the upper end of the support connecting rod is hinged to the body of the second lower connecting rod, and the lower end of the support connecting rod is hinged to the output end of the drive device, which is mounted on the central fixed bracket.

2. The variable diameter structure according to claim 1, characterized in that: The driving device consists of a motor, a lead screw, and a lead screw nut. One end of the support link is hinged to the lead screw nut, and the other end is hinged to the second lower link. When the lead screw rotates, the lead screw nut moves horizontally, causing the lower end of the support link to move left and right, which in turn causes the second lower link to move, thus realizing the extension and retraction of the entire scissor fork link assembly. When the lower end of the support link moves to the left, the scissor fork link assembly will retract, and when the lower end of the support link moves to the right, the scissor fork link assembly will open.

3. The variable diameter structure according to claim 1, characterized in that: It also includes a fixing rod, which includes a first fixing rod and a second fixing rod. The upper end of the first fixing rod is hinged to the lower end of the second upper connecting rod, and the lower end is hinged to the body of the first lower connecting rod. The upper end of the second fixing rod is hinged to the body of the second upper connecting rod, and the lower end is hinged to the upper end of the first lower connecting rod.

4. The variable diameter structure according to claim 1, characterized in that: The scissor fork linkage assembly is provided in 3 groups, which are evenly distributed and have the same included angle.

5. The variable diameter structure according to claim 2, characterized in that: A pressure sensor is installed at the nut; an angle sensor is installed at the lower hinge point.

6. A multi-joint variable-diameter robot, comprising the variable-diameter structure as described in any one of claims 1 to 5, characterized in that: It also includes a head actuator, a servo linkage mechanism, and a tail mechanism. There are at least two variable diameter structures, and adjacent variable diameter structures are connected by a servo linkage mechanism. The head actuator is installed at the end of the front variable diameter structure, and the tail mechanism is installed at the end of the rear variable diameter mechanism.

7. The multi-joint variable-diameter robot according to claim 6, characterized in that: The servo connection mechanism includes a first servo and a second servo that are rotatably connected. The first servo can rotate 360° to achieve lateral movement or turning; the second servo can swing ±90° to adjust the overall posture of the robot.

8. The multi-joint variable-diameter robot according to claim 6, characterized in that: The two ends of the servo motor connection mechanism are respectively connected to the central fixed bracket of the adjacent variable diameter structure.

9. The multi-joint variable-diameter robot according to claim 6, characterized in that: The variable diameter structure is equipped with wheel feet at its bottom.

10. The multi-joint variable-diameter robot according to claim 6, characterized in that: The head actuator includes a depth camera and a lidar, which are connected by a servo motor to achieve pitch or rotation adjustment; the tail mechanism has a built-in cable reel, a rear camera, and a laser rangefinder.

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